Adaptive backstepping sliding mode controller design based on “H” type quadrotor

A 6DOF mathematical model of the “H” type quadrotor prototype is developed by the Newton-Euler method to analyze the complex nonlinear position and attitude control problems in this paper. Then the PID controllers are designed for the control of the horizontal position of the quadrotor. The adaptive backstepping sliding mode controllers are designed for the altitude and attitude control of the quadrotor and the stability is proved based on Lyapunov function. Finally, simulation is carried out under the MATLAB/Simulink. The simulation results show that the controllers we designed can effectively realize the control of the quadrotor model, and the method has good tracking and anti-interference ability.